Stereoscopic endoscope

ABSTRACT

A stereoscopic endoscope including an objective lens system for forming an image of an object which objective lens system is arranged at the front end of an inserting section and has a single optical axis; an image transmission device coaxially arranged with the objective lens system and adapted to transmit the image formed by the objective lens system; a pupil dividing device for dividing the image transmitted through the objective lens system and the image transmission device so as to obtain left and right images of the object; an image sensing device for picking up the left and right images obtained by the pupil dividing device; a first support structure containing-at least the objective lens system; and a second support structure containing at least the pupil dividing device and the image sensing device, wherein the first and second support structures are rotatable relative to each other around an axis extending along the longitudinal dimension of the endoscope.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a stereoscopic endoscope which is usedfor stereoscopic observation of objects.

2. Description of the Related Art

In recent years, endoscopes for medical use, which enable the interiorof a body cavity to be observed by inserting a long thin insertingsection into the body cavity, have been widely used. Such an endoscopemakes it possible not only to observe the interior of the body cavitybut also to perform various types of medical care and treatment by usinga treating instrument that is inserted into an instrument channelprovided in the endoscope. Apart from this, endoscopes for industrialuse are being used to observe or inspect flaws, corrosions, etc. insidethe piping in boilers, chemical plants or the like, or inside theengines of automobiles, airplanes, etc.

Such endoscopes are divided into two types based on the relativehardness of the inserting section: elastic type endoscopes whoseinserting section is elastic so that it can be inserted into the bodycavity, which is full of twists and turns, from the oral cavity, etc.;and rigid type endoscopes whose inserting section is made rigid so as tobe linearly inserted toward the section of the object to be observed.

A flexible image guide fiber is used as the optical image transmissionmeans of the elastic type endoscope. In the rigid type endoscope, whichhas a rigid inserting section, a relay optical system is used as theimage transmission means.

Further, endoscopes may be divided into two types based on the means ofobservation used: optical endoscopes with which the image is directlyobserved by the naked eye; and electronic endoscopes which use asolid-state image sensing device, such as a CCD (charge-coupled device),as the imaging means.

The above-mentioned conventional endoscopes have a problem in that theimage thereby obtained during the observation of the interior of thebody cavity is mostly a planar image having no depth. Thus, inendoscopic observation, it is rather difficult to observe the minutesurface irregularities of the inner wall of the body cavity, whichsurface irregularities are an important diagnostic index.

To cope with this problem, stereoscopic endoscopes which make itpossible to observe the minute surface irregularities of the inner wallof the body cavity have been proposed.

Japanese Patent Laid-Open No. 57-69839 discloses a stereoscopicendoscope in which eyepieces are provided at the ocular end of a pair ofimage guides arranged inside the inserting section, and objective lensesare provided at the other end thereof on the front-end side of theinserting section, so as to enable the interior of the body cavity to bestereoscopically observed. With this stereoscopic endoscope, it ispossible to stereoscopically observe the inner wall surface of an objectby adjusting the angle of convergence made by the point of observationand the pair of objective lenses in such a way as to enable stereoscopicobservation. This stereoscopic endoscope is applied to an elastic typeendoscope.

In a rigid type endoscope which enables an object to be stereoscopicallyobserved, a pair of relay optical systems are arranged in parallelinside the inserting section of the endoscope, the images respectivelyobtained by these relay optical systems being picked up by image sensingdevices such as CCDs. In this stereoscopic endoscope, electric signalsrepresenting the images formed on the image sensing devices areconverted into image signals, which are displayed on a monitor, therebymaking it possible to perform stereoscopic observation.

U.S. Pat. No. 4,924,835 discloses a stereoscopic endoscope whichincludes a pair of light transmission devices and shutters correspondingto the pair of light transmission devices, wherein the imagesrespectively obtained by the transmission devices are alternately shadedby the shutters, thereby enabling an object to be stereoscopicallyobserved.

Thus, in these stereoscopic endoscopes, stereoscopic observation is madepossible by obtaining left and right images of the object through use ofa pair of optical systems, a pair of CCDs, etc.

In the stereoscopic endoscope of the type which is provided with a pairof CCDs, the vertical dimension (the top-to-bottom relationship) of theimage is determined by the position of the CCDs. As a result, thetop-to-bottom relationship of the image as displayed on the monitor doesnot always agree with that of the monitor. Therefore, when the endoscopefor observing the interior of the body cavity is rotated around theoptical axis of the endoscope, the orientation of the CCDs inside theinserting section varies to change the visual-field direction, so thatthe image displayed on the monitor turns upon the rotation of theendoscope, resulting in there being a disparity between thetop-to-bottom relationship of the monitor and that of the image.

Thus, the operator cannot immediately understand the positionalrelationship between the endoscope and the interior of the body cavityby glancing at the image displayed on the monitor, so that it is ratherdifficult to set, for example, the treating instrument, inserted throughthe instrument channel of the endoscope, quickly and correctly at adesired position.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide a stereoscopicendoscope which is capable of compensating for the turning of an imageresulting from the rotation of the endoscope around its optical axis soas to correct the top-to-bottom relationship of the image displayed onthe monitor screen so that it is in conformity with the top-to-bottomrelationship of the CCDs.

Another object of the present invention is to provide a stereoscopicendoscope which is capable of automatically correcting the verticaldimension of an image displayed on the monitor screen so that it isalways in correspondence with the top-to-bottom relationship of theCCDs, even when the endoscope is rotated around its optical axis.

Still another object of the present invention is to provide astereoscopic endoscope in which the diameter of the endoscope insertingsection is reduced so as to mitigate the pain of the patient.

Briefly, the stereoscopic endoscope of the present invention comprises:an objective lens system for forming an image of an object whichobjective lens system is arranged at the front end of an insertingsection and has a single optical axis; image transmission meanscoaxially arranged with the objective lens system and adapted totransmit the image formed by the objective lens system; pupil dividingmeans for dividing the image transmitted through the objective lenssystem and the image transmission means so as to obtain left and rightimages of the object; image sensing means for picking up the left andright images obtained by the pupil dividing means; first support meanscontaining at least the objective lens system; and second support meanscontaining at least the pupil dividing means and the image sensingmeans, wherein the first and second support means are rotatable relativeto each other around an axis extending along the longitudinal dimensionof the endoscope.

Other features and advantages of the present invention will becomesufficiently apparent from the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows the construction of a stereoscopic rigid-type endoscopeaccording to a first embodiment of the present invention;

FIG. 2 shows the construction of another stereoscopic rigid-typeendoscope according to the first embodiment;

FIGS. 3 through 6 are drawings related to a second embodiment of thepresent invention, of which

FIG. 3 shows the construction of a controller in a stereoscopicrigid-type endoscope according to a second embodiment of the presentinvention;

FIG. 4 illustrates a pupil dividing means (shutter) in the secondembodiment;

FIG. 5 shows the pupil dividing shutter of FIG. 4;

FIG. 6 illustrates shutter positions of the pupil dividing shutter ofFIG. 5;

FIGS. 7 through 9 are drawings related to a third embodiment of thepresent invention, of which

FIG. 7 shows the construction of a stereoscopic oblique-view-typeendoscope according to the third embodiment;

FIG. 8 shows a pupil dividing shutter in the construction of FIG. 7;

FIG. 9 illustrates shutter positions of the pupil dividing shutter ofFIG. 8;

FIG. 10 shows another example of the pupil dividing shutter;

FIG. 11 shows the pupil dividing shutter of FIG. 10 arranged in astereoscopic oblique-view-type endoscope;

FIG. 12 shows the stereoscopic oblique-view-type endoscope of FIG. 11rotated by 90°;

FIGS. 13(a) and 13(b) shows the construction of a stereoscopicrigid-type endoscope according to a fourth embodiment of the presentinvention;

FIG. 14 shows the construction of a stereoscopic rigid-type endoscopeaccording to a fifth embodiment of the present invention;

FIG. 15 shows the construction of a stereoscopic rigid-type endoscopeaccording to a modification of the fifth embodiment;

FIG. 16 is a sectional view showing the construction of anotherstereoscopic endoscope which makes stereoscopic observation possible;

FIG. 17 is a sectional view showing the construction of still anotherstereoscopic endoscope which makes stereoscopic observation possible;

FIG. 18 is a front view of the solid-state image sensing device of FIG.17; and

FIGS. 19(a) and 19(b) shows a stereoscopic rigid-type endoscope in whichthe inserting section is detachable with respect to theoperating/holding section.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

A stereoscopic rigid-type endoscope according to the first embodiment ofthe present invention will now be described with reference to FIG. 1.

A stereoscopic rigid-type endoscope 1, shown in the drawing, is anendoscope for stereoscopic observation of an object inside the bodycavity, and includes a rigid inserting section 2 and anoperating/holding section 3 having a relatively large diameter andconnected with the inserting section 2. A cable 4 connected to acontroller extends from the rear end of the operating/holding section 3.

In the inserting section 2 of the stereoscopic rigid-type endoscope 1,an objective lens system 5 and a relay lens section 6 are arranged alongan optical axis, in that order from the front end, to form a relay lenssystem 7, which is supported by a first support means. The objectivelens system 5 is composed of a plurality of lenses, and forms an imageof the object at the front end of the relay lens section 6, which is animage transmission means composed of a plurality of lens groups. Thisimage is transmitted through the lens groups to a pupil dividing meansarranged in the operating/holding section 3. In this embodiment, thepupil dividing means consists of a pupil dividing prism 8.

The pupil dividing prism 8 divides the image, transmitted through therelay lens system 7, into left and right images. For this purpose, thepupil dividing prism 8 is formed, for example, as a triangular prism,which is secured in position in such a way that its apex is in theoptical axis of the relay lens system 7 and the two reflection surfacesthereof are at an angle of 45° with respect to the optical axis.

Thus, the image, transmitted through the relay lens system 7 to impingeupon the pupil dividing prism 8, is reflected in two directions, eachperpendicular to the optical axis, by the two reflection surfaces so asto be divided into left and right images.

The left image, obtained by the pupil dividing prism 8, is transmittedthrough an image forming lens 9a and reflected by a mirror 10a to beformed on a CCD 11a, which constitutes the imaging means for the leftimage. An electric signal representing the left image thus formed on theCCD 11a is supplied to the controller. Similarly, the right image,obtained by the dividing action of the pupil dividing prism 8, istransmitted through an image forming lens 9b and reflected by a mirror10b to be formed on a CCD 11b, which constitutes the imaging means forthe right image. An electric signal representing the right image, formedon the CCD 11b, is likewise supplied to the controller.

The pupil dividing prism 8, the image forming lenses 9a and 9b, themirrors 10a and 10b, and the CCDs 11a and 11b are secured to a rotatingsection 12, which constitutes a second support means rotating within theoperating/holding section 3, which is substantially cylindrical. Arotary mechanism 13, such as a motor, is provided as the rotating meansinside the rotating section 12, which is rotated, by the driving forceof the rotary mechanism 13, around an axis extending along thelongitudinal dimension of the endoscope.

Provided between the plurality of lenses constituting the objective lenssystem 5 is a pupil section 14, which is indicated by opposed arrows. Bycontrolling the opening/closing of the pupil section 14, the pupil rangeof the objective lens system 5 varies. It is also possible for the pupilsection 14 to be arranged at one of the positions indicated by dashedlines 14a and 14b.

Further, an optical system for illuminating the object to be observed isprovided inside the stereoscopic rigid-type endoscope 1.

The above-mentioned controller controls the driving of the CCDs 11a and11b, the rotation of the rotary mechanism 13, the amount ofopening/closing of the pupil section 14, the amount of light supplied tothe illumination optical system, etc.

The operation of the stereoscopic rigid-type endoscope 1, constructed asdescribed above, will be illustrated.

As shown in FIG. 1, the image is transmitted through the objective lens5 and formed at the front end of the relay lens section 6, in which itis divided once or more into right and left images at relay positions.In order that the left image incident upon the left side of the pupilsection 14 of the objective lens system 5 may be observed with the lefteye, and the right image incident upon the right side of the pupilsection 14 with the right eye, the pupil dividing prism 8 divides theimage into left and right images with respect to the relay lens opticalaxis. The divided images are transmitted by way of the image forminglenses 9a and 9b and the reflection mirrors 10a and 10b to be formed onthe CCDs 11a and 11b, respectively.

The electric signals representing the images formed on the CCDs 11a and11b undergo signal processing in the controller such that the left andright images are alternately displayed, for example, thirty times aminute on a monitor screen. By viewing the monitor screen through shadedglasses, it is possible for the viewer to stereoscopically observe theimage displayed on the monitor.

The left and right lenses of the shaded glasses are alternately shadedin synchronism with the alternate display of-the left and right imageson the monitor screen, making it possible for the observer viewing themonitor screen to obtain an image with stereoscopic depth due to theafter-image effect of the shaded glasses.

Assuming that the dimension perpendicular to the plane of FIG. 1 is thevertical dimension of the stereoscopic rigid-type endoscope 1, and thatthe vertical dimension of the endoscope 1 inserted into the body cavitycoincides with the vertical dimension of the body cavity, the image canbe displayed on the monitor screen with the top-to-bottom relationshipof the endoscopic image matched with that of the monitor screen bykeeping the rotating section 12 stationary.

When the vertical dimension of the endoscope has changed duringobservation, causing a disparity between the top-to-bottom relationshipof the endoscopic image as displayed on the monitor screen and thetop-to-bottom relationship of the monitor screen, only the rotatingsection 12 is rotated by the rotary mechanism 13 by an amountcorresponding to this disparity, without rotating the endoscope itself,whereby the top-to-bottom relationship of the endoscopic image displayedon the monitor screen is made coincident with that of the monitorscreen.

Since the relay lens system and the pupil dividing prism are arrangedalong the same optical axis, it is possible to freely change thedirection of stereoscopic viewing with respect to the optical axis byrotating the rotating section alone.

In this way, it is possible for the operator to make the verticaldimension of the image displayed on the monitor screen coincident withthe top-to-bottom relationship of the endoscope. Thus, the positionalrelationship inside the body cavity can be immediately understood byglancing at the monitor screen, so that the treating instrument, etc.can be operated quickly and correctly, thereby substantially improvingthe spotting performance thereof.

Further, since the components from the relay lens system to the pupildividing prism are formed as an optical system with a single opticalaxis, the diameter of the inserting section can be reduced as comparedwith that of a stereoscopic endoscope in which an optical system havingtwo optical axes is arranged inside the inserting section.

Further, by removing the rotating section and the rotary mechanism fromthe above-described construction, an inexpensive stereoscopic endoscopecan be obtained which, though incapable of coping with any disparity inthe positional relationship between the endoscope and the imagedisplayed on the monitor screen, has an inserting section with a reduceddiameter; and there is only a remote possibility that there will be adisparity between the left and right images.

The image sensing system of this embodiment is applicable to bothcolor-frame-sequential type and simultaneous-type endoscopes.

The left and right images may be simultaneously displayed on themonitor, instead of being alternately displayed as described above.

Further, it is also possible to provide three or more of theabove-mentioned pupil dividing means, choosing two of them forstereoscopic observation. In that case, the number of image forminglenses and CCDs arranged in the operating/holding section are madecoincident with the number of divisions to be effected, resulting in anincrease in the number of parts. However, by combining such aconstruction with the rotating means, a positional disparity can bequickly coped with.

Also, instead of using an image sensing means consisting of asolid-state image sensing device such as a CCD, eyepieces may beprovided, thereby making it possible to stereoscopically observe theimage with the naked eye.

The second embodiment of the present invention will now be describedwith reference to FIGS. 3 through 6.

FIG. 3 shows a stereoscopic rigid-type endoscope 22 according to thesecond embodiment, in which, in addition to the relay lens system of thefirst embodiment, another optical system is provided behind it, the twosystems together constituting a single image forming optical system.Further, this embodiment uses only one image sensing device. Thus, toobtain images having parallax, a pupil dividing shutter is provided asthe pupil dividing means. This pupil dividing shutter selectively makesdifferent regions of the pupil in the image forming optical systemtransmittable. Here, the components which are the same as those of thefirst embodiment are referred to by the same reference numerals, and adescription of such components will be omitted.

As shown in FIG. 3, arranged in the stereoscopic rigid-type endoscope 22are a pupil dividing shutter 23, an image forming lens 24, and a CCD 25,in the order shown in FIG. 4, behind a lens 6a, which is located at therearmost end of the relay lens section 6.

As shown in FIG. 4, the pupil dividing shutter 23 is formed as a dischaving a circular shutter hole 23a to provide parallax. The central axisof the disc forming the pupil dividing shutter 23 coincides with theoptical axis of the relay lens system 7, the pupil dividing shutter 23being rotatable around this central axis. The parallax provided by theshutter 23 increases in proportion to the distance between the centralaxis and the shutter hole 23a formed in the pupil dividing shutter 23.

The image forming lens 24 is arranged behind the pupil dividing shutter23 and coincides with the the optical axis of the relay lens system 7.It forms only those images of the object which have been transmittedthrough the shutter hole 23a, on the image area 25a of the CCD 25.Electric signals representing the images formed on the CCD 25 aresupplied through a signal line 26 to a controller 27.

As shown in FIG. 5, images of the object are formed on the CCD 25 whenthe shutter hole 23 passes upper, right, lower and left shutterpositions upon rotation of the pupil dividing shutter 23 around itscentral axis. That is, the image sensing by the CCD 25 is effected eachtime the shutter hole 23a passes one of the four shutter positions: theupper, lower, left and bottom positions, as shown in FIG. 6.

Light transmitted through the shutter hole at the upper, lower, left andright shutter positions forms upper, lower, left and right images,respectively, on the CCD 25. The thus formed images correspond toincident images -obtained by effecting pupil division into upper, lower,left and right sections in the relay lens system 7. Accordingly,parallax is generated between the upper and lower images and between theleft and right images.

In the controller 27, the electric signals supplied from the CCD 25 aresubjected to signal processing and then output to monitors 28 and 29 todisplay images which make stereoscopic observation possible.

The electric signals output from the CCD 25 are A/D-converted by an A/Dconverter 30 in the controller 27, and transmitted through a switch 31operating in synchronism with the change in position of the shutter hole23a to be sequentially stored in an upper frame memory 32a, a rightframe memory 32b, a lower frame memory 32c, and a left frame memory 32d,which correspond to the upper, right, lower and left positions,respectively, of the shutter hole 23a.

Here, reading from each frame memory will be described.

The image signals stored in the upper frame memory 32a and those storedin the lower frame memory 32c are read through a switch 33a as A-fieldimage signals and C-field image signals, respectively, and then A-fieldand C-field images are alternately displayed on the monitor 28.Likewise, the image signals stored in the right frame memory 32b andthose stored in the left frame memory 32d are read through a switch 33bto be alternately displayed on the monitor 29 as B-field and D-fieldimages, respectively.

The writing and reading of signals to and from the frame memories 32a,32b, 32c and 33d and the operation of the switches 31, 33a and 33b arecontrolled through the rotation of the pupil dividing shutter 23.

By thus using the stereoscopic rigid-type endoscope with the controllerdescribed above, the operator can simultaneously observe stereoscopicimages having an upper/lower and left/right parallax through twomonitors.

In the case of the stereoscopic endoscope constructed as describedabove, the simultaneous-type image sensing system is more easilyapplicable from the viewpoint of construction. When applying thecolor-frame-sequential image sensing system to this endoscope, it isnecessary to synchronize the color illumination at triple the rotatingspeed of the pupil dividing shutter, or to effect three-color imagesensing with three rotations of the pupil dividing shutter. In thelatter case, the frame memory capacity must be three times larger.

For signal processing, the construction of either the upper/lower or theleft/right system of the controller shown in FIG. 3 suffices.

Next, the third embodiment of the stereoscopic endoscope of the presentinvention will be described with reference to FIGS. 7 through 9.

In a stereoscopic rigid-type endoscope 22 according to the thirdembodiment, the incident image of an object is divided into right andleft images, as in the second embodiment, by a pupil dividing shutter23. In the rotating section 12, in which the pupil dividing shutter 23and a CCD 25 are arranged and which constitutes the second supportmeans, a weight 61 or the like is secured in position so as to keep therotating section 12 stationary, whereby any rotation of the monitorimage upon rotation of the endoscope is automatically corrected. Thestereoscopic endoscope of this embodiment is of an oblique-view typewhich has a visual field obliquely ahead of the front end of theinserting section.

As shown in FIG. 7, in the stereoscopic rigid-type endoscope of thisembodiment, the pupil dividing shutter 23 and the CCD 25 are arrangedinside the rotation section 12, in the optical axis of the relay lenssystem 7, which is rotatable around this optical axis. Since, as statedabove, the weight 61 is secured to the rotating section 12, the pupildividing shutter 23 and the CCD 25 are constantly secured in positionwith respect to the gravitational dimension.

The CCD 25 of this embodiment is electrically connected through a signalline 26 to a controller 27, which is substantially the same as thecontroller in the second embodiment. Thus, as shown in FIGS. 8 and 9,the right and left images are formed on the CCD through the shutter hole23a, and the image sensing signals output from the CCD 25 are subjectedto signal processing to display an image which can be stereoscopicallyobserved on a monitor 29.

The left and right images transmitted through the shutter hole 23a ofthe pupil dividing shutter 23 are stored in a left frame memory 32b anda right frame memory 32d, respectively, and the image signals stored inthese frame memories are alternately read for display on the monitorscreen.

Due to the above-described construction, in which a weight is secured tothe rotating section rotatable around the optical axis and in which thepupil dividing shutter and the CCD are arranged in the optical axis ofthe relay lens system, it is possible for the pupil dividing shutter andthe CCD to be constantly held in the proper position with respect to thegravitational dimension even if the endoscope is rotated.

In this embodiment, it is possible to provide a gravitation detectingmeans, instead of the weight. By controlling the rotating means on thebasis of a bottom dimension as detected by the gravitation detectingmeans, the bottom dimension of the image displayed on the monitor screencan be automatically made coincident with the actual bottom(gravitational) dimension.

Further, it is possible not only to make the monitor bottom dimensioncoincident with the gravitational dimension, but also to effect displaywith the observer's orientation arbitrarily set, for example, inaccordance with the positional relationship between the observer and themonitor, depending upon the condition in which the endoscope is used.

The other effects and advantages of this embodiment are the same asthose in the previous embodiments.

Here, another embodiment of the pupil dividing shutter will bedescribed.

FIG. 10 shows a pupil dividing shutter which consists of a combinationof polarizing plates and a liquid Crystal cell. As shown in the drawing,this pupil driving shutter comprises: a polarizing plate 23c whichconstitutes a first polarizing means and which is composed of right andleft polarizing plate sections whose respective polarizing directionsintersect each other, for example, one in 0° direction and the other in90° direction; a liquid crystal cell 23d constituting aplane-of-polarization turning means having the function to turn theplane of polarization of the incident light; and a polarizing plate 23ewhich constitutes a second polarizing means and whose polarizingdirection is the same as one of the polarizing directions of thepolarizing plate 23c. By controlling the voltage applied to the liquidcrystal cell 23d, switching is effected between the state in which thelight incident on the liquid crystal cell 23d is output as it is and thestate in which the plane of polarization of the incident light is turnedby 90° before the light is output. Due to this arrangement, light whichhas been transmitted through only one of the polarizing plate sections,one in 0° direction and the other in 90° direction, of the polarizingplate 23c is output from the polarizing plate 23e, thereby effectingpupil division.

FIGS. 11 and 12 show a stereoscopic rigid-type endoscope of anoblique-view type which is provided with the above-described pupildividing shutter. Due to the rotating section 12 having the weight 61,the pupil dividing shutter 23 and the CCD 25 of this stereoscopicrigid-type endoscope of the oblique-view type can be held in the properposition with respect to the gravitational dimension, as in the case ofthe stereoscopic rigid-type endoscope of the third embodiment, even ifthe endoscope 22 is rotated.

Thus, the top-to-bottom relationship of the endoscopic image displayedon the monitor screen is not changed with the rotation of the endoscope.

Further, since the position of the CCD 25 is also free from rotation andconstantly kept stationary, the cable 26 extending from the CCD 25 tothe exterior is prevented from being twisted.

FIG. 13 shows a stereoscopic rigid-type endoscope 22 of the oblique-viewtype according to the fourth embodiment of this invention. In contrastwith the embodiment shown in FIG. 1, the fourth embodiment employs aconstruction in which the weight 61 is fastened to the rotating section12, as in the embodiment shown in FIG. 7.

Since the weight, which keeps the rotating section stationary withrespect to the gravitational dimension, is fastened to the rotatingsection, the image sensing section is prevented from rotating withrespect to the gravitational dimension as in the third embodiment evenwhen the endoscope rotates, so that the image displayed on the monitoris free from rotation.

FIG. 14 shows a stereoscopic rigid-type endoscope 22 according to thefifth embodiment of this invention. In contrast with the embodimentshown in FIG. 1, the fifth embodiment adopts a construction in which,instead of providing the rotating section, the inserting section 2 ofthe endoscope 22 is separated into front and rear sections 2a and 2b,which are capable of rotating relative to each other around the opticalaxis of the relay lens system 7, that is, of the endoscope opticalsystem.

In accordance with this embodiment, the operator can hold theoperating/holding section 3, connected with the rear section 2b of theinserting section 2 and containing the image sensing system, rotatingthe front section 2a of the inserting section while keeping theoperating/holding section 3 stationary with respect to the gravitationaldimension.

FIG. 15 shows a modification of the embodiment of FIG. 14. In thismodification, the inserting section 2 and the operating/holding section3 are separated and rotatable relative to each other around the opticalaxis of the endoscope optical system. Further, in this modification,lenses 64 and 65 are arranged at the rear end of the inserting section 2and the front end of the operating/holding section 3, respectively,converting the light flux in the joint section (rotary section) betweenthe inserting section 2 and the operating/holding section 3 into aparallel ray.

Thus, with this modification, it is possible to prevent the image fromdeteriorating even if there is some play along the longitudinaldimension of the rotary section.

FIG. 16 shows a stereoscopic rigid-type endoscope 35 which contains inits rigid, thin and narrow inserting section: an objective lens 36;image forming lenses 37a and 37b having a diameter smaller than that ofthe objective lens 36; a relay lens section 38 composed of a pluralityof lenses for separately transmitting two images formed by two imageforming lenses 37a and 37b, respectively; and a CCD 39 for picking up animage formed by an image forming lens 38a located at the rearmost end ofthe relay lens section 38, the above components being arranged in thatorder from the front end of the inserting section. Like theabove-described stereoscopic endoscopes, the stereoscopic rigid-typeendoscope 35 is designed to obtain left and right images by pupildivision.

Light from the object to be observed is transmitted partly through theobjective lens 36 and the image forming lens 37a and partly through theobjective lens 36 and the image forming lens 37b to form two images,divided with respect to the optical axis, behind these image forminglenses 37a and 37b, which are shaded by a shading member (not shown) soas to be optically separated from each other in order that the imagetransmitted through one image forming lens may not be formed with theone transmitted through the other lens.

The two images formed by the image forming lenses 37a and 37b aretransmitted rearwards through the relay lens section 38 to form twoimages having parallax on the CCD 39. As in the above embodiments, theelectric signals output from the CCD 39 undergo signal processing andare displayed on a monitor, enabling the viewer to stereoscopicallyobserve the object.

Since the stereoscopic rigid-type endoscope 35 comprises a single lineof optical system, there is only a remote possibility that there is adisparity between the left and right images. Further, it is lessexpensive than endoscopes having two lines of optical systems.

FIGS. 17 and 18 show a stereoscopic rigid-type endoscope 40 which isformed by removing the relay lens section 38 from the endoscope 35 shownin FIG. 16 and arranging a CCD 39 in the front end section thereof.Provided between the image forming lenses 37a and 37b is a shadingmember 41, which extends up to the surface of the CCD 39.

The other structural features and effects of the stereoscopic rigid-typeendoscope 40 are the same as those of the one shown in FIG. 16, so adescription thereof will be omitted.

FIGS. 19(a) and 19(b) show a stereoscopic rigid-type endoscope 43 whichincludes, for stereoscopic observation, two relay optical systems 44aand 44b and a pair of CCDs 45a and 45b serving as the image sensingmeans for picking up images transmitted through the relay opticalsystems 44a and 44b.

The stereoscopic rigid-type endoscope 43 comprises a rigid insertingsection 46, and an operating/holding section 47 having a relativelylarge diameter and joined with the inserting section 46. The relayoptical systems 44a and 44b, contained in the inserting section 46, areshaded from each other by a shading member (not shown).

The operating/holding section 47 is composed of a cover member 47a onthe front end side and a holding section body 47b, which are separatedfrom each other to be detachably engaged by a screwing means or thelike. Further, a protruding section on the back side of the holdingsection body 47b is detachably engaged with a rear member 47c by ascrewing means. A cable protector 49 made of a plastic material or thelike is provided at the rear end of the rear member 47c so as to cover acable 48. Further, provided between the cover member 47a and the holdingsection body 47b is a sealing member 47d for keeping the inner space,defined by the screwing engagement of the cover member 47a with holdingsection body 47b, watertight.

Arranged inside the cover member 47a of the operating/holding section 47is a prism 50 for reflecting the images, transmitted through the relayoptical systems 44a and 44b, in directions each perpendicular to theoptical axis. Further, the cover member 47a of the operating/holdingsection 47 contains mirrors 51a and 51b for reflecting the two images,reflected by the prism 50, in directions parallel to the optical axes ofthe relay optical systems, and image forming lenses 52a and 52b forforming the images reflected by the mirrors 51a and 51b.

The holding section body 47b of the operating/holding section 47 has acover glass 53 near its front opening. Further, the holding section body47b contains CCDs 45a and 45b for picking up the two images formed bythe image forming lenses 52a and 52b. Image sensing peripheral circuits58a and 58b are provided at the rear end of the CCDs 45a and 45b.

The CCDs 45a and 45b pick up the images having parallax, transmittedthrough the two relay optical systems, and converts them to electricsignals, which are supplied to the controller. The signal processing forstereoscopic observation is the same as that in the above embodiments,so a description thereof will be omitted.

In the stereoscopic rigid-type endoscope 43 shown in FIG. 19(a), theoptical systems and the CCDs are detachable with respect to each other.Further, since the optical systems and the CCDs can be formed as anintegral unit, the stereoscopic rigid-type endoscope 43 excels inoperability.

The optical axes of the relay optical systems, contained in theendoscope inserting section, are bent by a prism and mirrorsconstituting an optical path changing means so as to be adapted to thesize of the CCDs. Therefore, the stereoscopic rigid-type endoscope 43can use large CCDs having high resolution.

It is desirable for the diameter of the endoscope inserting section tobe reduced so as attain an improvement in insertion property. In view ofthis, in this stereoscopic endoscope, the optical path changing means isprovided in the operating/holding section, whose diameter may berelatively large, and, at the optical path is made coincident with theoptical axes of the two CCDs.

Although this embodiment has been described with reference to astructure in which two relay optical systems are arranged inside theendoscope inserting section, it goes without saying that it is alsoapplicable to a structure in which, as in the above embodiments, onerelay optical system is arranged inside the endoscope inserting section.

FIG. 19(b) shows a stereoscopic rigid-type endoscope 54 formed by partlymodifying the endoscope shown in FIG. 19(a). In the stereoscopicrigid-type endoscope 54, the optical path changing means for bending theoptical axes of the relay optical systems is provided on the imagesensing side, that is, in the holding section body 47b. Arranged on theinside of the cover glass 53 are a prism 55 for bending the optical axesof the relay optical systems 44a and 44b in such a way as to divergethem, i.e., obliquely, and image forming lenses 57a and 57b for formingimages of the object on the CCDs 56a and 56b. Thus, the image areas ofthe CCDs 56a and 56b are oblique with respect to the optical axes of therelay optical systems.

The other structural features and effects of this endoscope are the sameas those of the endoscope 43 shown in FIG. 19(a), and the componentsthereof which are the same as those of the endoscope 43 will be referredto by the same reference numerals, a description of such componentsbeing omitted.

In the endoscope 43 shown in FIG. 19(a), the optical path changing meansmay be provided on the image sensing side. In the endoscope 54 shown inFIG. 19(b), the optical path changing means for obliquely bending theoptical path may be provided on the optical system side in order tosecure the requisite space.

It is obviously possible for the present invention to be embodied informs varying in a wide range without departing from the spirit andscope thereof. The scope of the present invention, therefore, isdetermined solely by the appended claims and not limited by any specificembodiments thereof.

What is claimed is:
 1. A stereoscopic endoscope having an insertingsection comprising:an image forming optical system arranged in aninserting section of the endoscope and provided with a single objectivelens system at a distal end of the inserting section for forming anobject image, and an image transmission means including a relay lenssystem for reforming said object image, said objective lens system andsaid relay lens system having a common optical axis; pupil dividingshutter means for selectively making different areas of a pupil of saidimage forming optical system transmittable by receiving lighttransmitted through said relay lens system; a single image sensing meansfor receiving images formed by light fluxes transmitted through saidpupil dividing shutter means; a first support means for supporting atleast said objective lens system; and a second support means forsupporting at least said image sensing means, said first and secondsupport means each being independently rotatable relative to each otheraround an axis extending along the longitudinal dimension of theendoscope.
 2. A stereoscopic endoscope according to claim 1, furtherincluding a visual-field direction deviation means for deviating thevisual-field direction of the endoscope in a direction other than fromthe longitudinal dimension thereof.
 3. A stereoscopic endoscopeaccording to claim 1, wherein said inserting section containing saidobjective lens system and said image transmission means is divided intofront and rear inserting-section parts which are rotatable relative toeach other around the optical axis of the optical system.
 4. Astereoscopic endoscope having an inserting section comprising:an imageforming optical system arranged in an inserting section of the endoscopeand provided with a single objective lens system at a distal end of theinserting section for forming an object image, and an image transmissionmeans including a relay lens system for reforming said object image,said objective lens system and said relay lens system having a commonoptical axis; pupil dividing shutter means for selectively makingdifferent areas of a pupil of said image forming optical systemtransmittable by receiving light transmitted through said relay lenssystem; and a single image sensing means for receiving images formed bylight fluxes transmitted through said pupil dividing shutter means,wherein said pupil dividing shutter means consists of a plate memberrotating around an axis of rotation parallel to the optical axis of saidimage forming optical system, said plate member including an opening ata position spaced apart from the axis of rotation thereof, said openingbeing provided at a position which is constantly illuminated by thelight flux which is outputted from said relay lens system even if saidplate member is rotated.
 5. A stereoscopic endoscope according to claim4, further comprising control means for obtaining output signals fromsaid image sensing means in synchronism with the operation of said pupildividing shutter means.
 6. A stereoscopic endoscope according to claim5, further comprising an A/D converter for A/D-converting electricsignals supplied to said control means from said image sensing means; achange-over switch for distributing the output signals from said A/Dconverter; frame memories each storing, frame by frame, the outputsignals distributed by said change-over switch; and change-over switchesfor alternately reading the signals stored in said frame memories.
 7. Astereoscopic endoscope, comprising:an image forming optical systemarranged in an inserting section of the endoscope and provided with asingle objective lens system at a distal end of the inserting sectionand a relay lens system for relaying an image formed by said objectivelens, said objective lens system and said relay lens system having acommon optical axis; a first support means for supporting at least saidobjective lens system; pupil dividing shutter means for selectivelymaking different areas of a pupil of said image forming optical systemtransmittable; a single image sensing means for receiving images formedby light fluxes transmitted through said pupil dividing shutter means;and a second support means for supporting at least said image sensingmeans, said first and second support means each being independentlyrotatable relative to each other around an axis extending along thelongitudinal dimension of the endoscope, wherein a weight forstabilization with respect to a gravitational dimension is fastened tothe second support means to which said pupil dividing shutter means andsaid image sensing means are secured.
 8. A stereoscopic endoscopecomprising:an image forming optical system arranged in an insertingsection of the endoscope and provided with a single objective lenssystem at a distal end of the inserting section and a relay lens systemfor relaying an image formed by said objective lens, said objective lenssystem and said relay lens system having a common optical axis; a firstsupport means for supporting at least said objective lens system; pupildividing shutter means for selectively along different areas of a pupilof said image forming optical system transmittable; a single imagesensing means for receiving images formed by light fluxes transmittedthrough said pupil dividing shutter means; and a second support meansfor supporting at least said image sensing means, said first and secondsupport means each being independently rotatable relative to each otheraround an axis extending along the longitudinal dimension of theendoscope, wherein said pupil dividing shutter means comprises:a firstpolarizing means composed of two polarizing plate sections arranged sideby side and having different directions of polarization; aplane-of-polarization turning means capable of turning the polarizationplane of incident light; and a second polarizing means consisting of aunitary polarizing plate, said first polarizing means, saidplane-of-polarization turning means and said second polarizing meansbeing arranged in that order along the optical axis.
 9. A stereoscopicendoscope having an inserting section comprising:an image formingoptical system arranged in an inserting section of the endoscope andprovided with a single objective lens system at a distal end of theinserting section for forming an object image, and an image transmissionmeans including a relay lens system for reforming said object image,said objective lens system and said relay lens system having a commonoptical axis; pupil dividing shutter means for selectively makingdifferent areas of a pupil of said image forming optical systemtransmittable by receiving light transmitted through said relay lenssystem; a single image sensing means for receiving images formed bylight fluxes transmitted through said pupil dividing shutter means; afirst support means for supporting at least said objective lens system;and a second support means for supporting at least said image sensingmeans, said first and second support means each being independentlyrotatable relative to each other around an axis extending along thelongitudinal dimension of the endoscope, wherein said endoscope isseparated into said inserting section supported by said first supportmeans containing said objective lens system and said image transmissionmeans and an operating/holding section supported by said second supportmeans containing said pupil dividing shutter means and said imagesensing means for picking up object images obtained by said pupildividing means, said inserting section and said operating/holdingsection being rotatable relative to each other around the optical axisof the optical system.
 10. A stereoscopic endoscope having an insertingsection comprising:an image forming optical system arranged in aninserting section of the endoscope and provided with a single objectivelens system at a distal end of the inserting section for forming anobject image, and an image transmission means including a relay lenssystem for reforming said object image, said objective lens system andsaid relay lens system having a common optical axis; pupil dividingshutter means for selectively making different areas of a pupil of saidimage forming optical system transmittable by receiving lighttransmitted through said relay lens system; and a single image sensingmeans for receiving images formed by light fluxes transmitted throughsaid pupil dividing shutter means, wherein said inserting section iselongated for insertion into a narrow area, said inserting sectioncontaining said objective lens system and said image transmission means,said pupil dividing shutter means being provided external to saidinserting section, said pupil dividing shutter means and said insertingsection being rotatable relative to each other around the optical axisof said image transmission means as a rotation axis.
 11. A stereoscopicendoscope according to claim 10, wherein said pupil dividing shuttermeans and said image sensing means are arranged in fixed positionsrelative to each other.
 12. A stereoscopic endoscope according to claim10, wherein said pupil dividing shutter means and said image sensingmeans are rotatably arranged relative to each other around said rotationaxis.
 13. A stereoscopic endoscope according to having an insertingsection comprising:an image forming optical system arranged in aninserting section of the endoscope and provided with a single objectivelens system at a distal end of the inserting section for forming anobject image, and an image transmission means including a relay lenssystem for reforming said object image, said objective lens system andsaid relay lens system having a common optical axis; pupil dividingshutter means for selectively making different areas of a pupil of saidimage forming optical system transmittable by receiving lighttransmitted through said relay lens system; and a single image sensingmeans for receiving images formed by light fluxes transmitted throughsaid pupil dividing shutter means; a first support means for supportingat least said objective lens system; and a second support means forsupporting at least said image sensing means, said first and secondsupport means each being independently rotatable relative to each otheraround an axis extending along the longitudinal dimension of theendoscope, wherein said pupil dividing shutter means is supported bysaid second support means.
 14. A stereoscopic endoscope comprising:animage forming optical system arranged in an inserting section of theendoscope and provided with a single objective lens system at a distalend of the inserting section and a relay lens system for relaying animage formed by said objective lens, said objective lens system and saidrelaying lens system having a common optical axis; pupil dividingshutter means for selectively making different areas of a pupil of saidimage forming optical system transmittable; and a single image sensingmeans for receiving images formed by light fluxes transmitted throughsaid pupil dividing shutter means, wherein said pupil dividing shuttermeans comprises:a first polarizing means composed of two polarizingplate sections arranged side by side and having different directions ofpolarization; a plane-of-polarization turning means capable of turningthe polarization plane of incident light; and a second polarizing meansconsisting of a unitary polarizing plate, said first polarizing means,said plane-of-polarization turning means and said second polarizingmeans being arranged in that order along the optical axis.